Torque, thrust scale

PX4 Autopilot Flight Controllers đź’»
1

Hi all,

I’m implementing a controller for iris drone model in gazebo simulation. It takes position and velocity setpoints and generates torque and thrust setpoint.

But I couldn’t find how to scale the thrust and torque command from my controller.

Can you give me some idea how to do it?

Thank you!

2

What do you mean by scale it? From what I understand the thrust command is a normalized value of the thrust which will result in a certain PWM for the motors depending on their max and minimum PWM signals.

3

Thanks for your response.

I calculated the thrust and torque command that is not normalized.
So, I have to normalize using some value which I called as “scale”.

Can I normalize it by simply dividing the thrust and torque command by its maximum value?
Or use other methods?

4

Yes simply dividing it by the maximum value will normalize it.

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